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<div class="title">octree_base.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
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<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_TREE_BASE_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_TREE_BASE_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_nodes.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_container.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_key.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/octree_iterator.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT = int,</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <span class="keyword">typename</span> BranchContainerT = OctreeContainerEmpty &gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html">   62</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase&lt;LeafContainerT, BranchContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode&lt;BranchContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode&lt;LeafContainerT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        <span class="keyword">typedef</span> BranchContainerT BranchContainer;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">typedef</span> LeafContainerT LeafContainer;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="comment">// iterators are friends</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_iterator_base.html">OctreeIteratorBase</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a>&gt; ;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="comment">// Octree default iterators</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">ConstIterator</a>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a> begin(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_depth_arg = 0) {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>(<span class="keyword">this</span>, max_depth_arg);};</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a> end() {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>();};</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="comment">// Octree leaf node iterators</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">ConstLeafNodeIterator</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a> leaf_begin(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_depth_arg = 0) {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>(<span class="keyword">this</span>, max_depth_arg);};</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a> leaf_end() {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>();};</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <span class="comment">// Octree depth-first iterators</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">ConstDepthFirstIterator</a>;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a> depth_begin(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_depth_arg = 0) {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>(<span class="keyword">this</span>, max_depth_arg);};</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a> depth_end() {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>();};</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="comment">// Octree breadth-first iterators</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator&lt;OctreeT&gt;</a> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">ConstBreadthFirstIterator</a>;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a> breadth_begin(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_depth_arg = 0) {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>(<span class="keyword">this</span>, max_depth_arg);};</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a> breadth_end() {<span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>();};</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae7fe4a307dc3c87adefb3bac2758a862">OctreeBase</a> ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keyword">virtual</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a3576546beaf804d801ca93c541d76697">~OctreeBase</a> ();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#ad76bd21badf86e9b47d0c8689f6a860b">  114</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ad76bd21badf86e9b47d0c8689f6a860b">OctreeBase</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&amp; source) :</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> (source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>),</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a> (source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>),</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a> (new (<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>) (*(source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>))),</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> (source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>),</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> (source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>),</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a>(source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a>),</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a> (source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&amp;</div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#aae40b7560b7aaa1f70d95bc95e093601">  127</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aae40b7560b7aaa1f70d95bc95e093601">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;source)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a> = source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a> = source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a> = <span class="keyword">new</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>) (*(source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>));</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> = source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a> = source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> = source.<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        }</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">setMaxVoxelIndex</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_voxel_index_arg);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">setTreeDepth</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_depth_arg);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">  154</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">getTreeDepth</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <span class="keywordflow">return</span> this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        }</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        LeafContainerT*</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">createLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        LeafContainerT*</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">existLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg) <span class="keyword">const</span> ;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">removeLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        std::size_t</div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">  200</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">getLeafCount</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        std::size_t</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">  209</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">getBranchCount</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">deleteTree</a> ( );</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">serializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_out_arg);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">serializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_out_arg, std::vector&lt;LeafContainerT*&gt;&amp; leaf_container_vector_arg);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">serializeLeafs</a> (std::vector&lt;LeafContainerT*&gt;&amp; leaf_container_vector_arg);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">deserializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_input_arg);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">deserializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_input_arg, std::vector&lt;LeafContainerT*&gt;&amp; leaf_container_vector_arg);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="comment">// Protected octree methods based on octree keys</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        LeafContainerT*</div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">  262</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">createLeaf</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        {</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* leaf_node;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* leaf_node_parent;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> ,<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, leaf_node, leaf_node_parent);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          LeafContainerT* ret = leaf_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">getContainerPtr</a>();</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;        LeafContainerT*</div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">  280</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">findLeaf</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          LeafContainerT* result = 0;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">findLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, result);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00292"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">  292</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">existLeaf</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a>(key_arg) != 0);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00301"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">  301</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">removeLeaf</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          <span class="keywordflow">if</span> (key_arg &lt;= <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        <span class="comment">// Branch node access functions</span></div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>*</div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#acd59f91dbfa1671c2d1e37e04712b286">  313</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#acd59f91dbfa1671c2d1e37e04712b286">getRootNode</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;          <span class="keywordflow">return</span> this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;        }</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00324"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">  324</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">branchHasChild</a> (<span class="keyword">const</span> BranchNode&amp; branch_arg,</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;                        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          <span class="comment">// test occupancyByte for child existence</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;          <span class="keywordflow">return</span> (branch_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">getChildPtr</a>(child_idx_arg) != 0);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>*</div>
<div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">  337</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">getBranchChildPtr</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>&amp; branch_arg,</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                           <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          <span class="keywordflow">return</span> branch_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">getChildPtr</a>(child_idx_arg);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">  348</a></span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">setBranchChildPtr</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>&amp; branch_arg,</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;                                <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg,</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;                                <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* new_child_arg)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;          branch_arg[child_idx_arg] = new_child_arg;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <span class="keywordtype">char</span></div>
<div class="line"><a name="l00360"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">  360</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">getBranchBitPattern</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>&amp; branch_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          <span class="keywordtype">char</span> node_bits;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          <span class="comment">// create bit pattern</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          node_bits = 0;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++) {</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;            <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child = branch_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">getChildPtr</a>(i);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;            node_bits |= <span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> ((!!child) &lt;&lt; i);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;          <span class="keywordflow">return</span> (node_bits);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        }</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00380"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">  380</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>&amp; branch_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        {</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          <span class="keywordflow">if</span> (branch_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html#a124c5d4e99de29ddbbc1a3c51451074c">hasChild</a>(child_idx_arg))</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;          {</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* branch_child = branch_arg[child_idx_arg];</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;            </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            <span class="keywordflow">switch</span> (branch_child-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> ())</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;            {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;              <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;              {</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;                <span class="comment">// free child branch recursively</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">deleteBranch</a> (*<span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (branch_child));</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;                <span class="comment">// delete branch node</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;                <span class="keyword">delete</span> branch_child;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;              }</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;              <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;              {</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;                <span class="comment">// delete leaf node</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;                <span class="keyword">delete</span> branch_child;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;              }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;              <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;            }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;            <span class="comment">// set branch child pointer to 0</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            branch_arg[child_idx_arg] = 0;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;          }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">  416</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">deleteBranch</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>&amp; branch_arg)</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        {</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;          <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          <span class="comment">// delete all branch node children</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (branch_arg, i);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        }</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">  430</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">createBranchChild</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>&amp; branch_arg,</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;                                       <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        {</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* new_branch_child = <span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>();</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          branch_arg[child_idx_arg] = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>*<span class="keyword">&gt;</span> (new_branch_child);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <span class="keywordflow">return</span> new_branch_child;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        }</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;        LeafNode*</div>
<div class="line"><a name="l00445"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">  445</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">createLeafChild</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>&amp; branch_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx_arg)</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        {</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* new_leaf_child = <span class="keyword">new</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>();</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          branch_arg[child_idx_arg] = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>*<span class="keyword">&gt;</span> (new_leaf_child);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          <span class="keywordflow">return</span> new_leaf_child;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        }</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="comment">// Recursive octree methods</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;                             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg,</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;                             BranchNode* branch_arg,</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;                             LeafNode*&amp; return_leaf_arg,</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;                             BranchNode*&amp; parent_of_leaf_arg);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">findLeafRecursive</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg,</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;                           BranchNode* branch_arg,</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;                           LeafContainerT*&amp; result_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;                             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg,</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;                             BranchNode* branch_arg);</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (<span class="keyword">const</span> BranchNode* branch_arg,</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;                                <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;                                std::vector&lt;char&gt;* binary_tree_out_arg,</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;                                <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;* leaf_container_vector_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160; </div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">deserializeTreeRecursive</a> (BranchNode* branch_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;                                  <span class="keyword">typename</span> std::vector&lt;char&gt;::const_iterator&amp; binary_tree_input_it_arg,</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;                                  <span class="keyword">typename</span> std::vector&lt;char&gt;::const_iterator&amp; binary_tree_input_it_end_arg,</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;                                  <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator* leaf_container_vector_it_arg,</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;                                  <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator* leaf_container_vector_it_end_arg);</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        <span class="comment">// Serialization callbacks</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00532"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">  532</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">serializeTreeCallback</a> (LeafContainerT&amp;, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;)<span class="keyword"> const</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        }</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00540"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">  540</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">deserializeTreeCallback</a> (LeafContainerT&amp;, <span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp;)</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        {</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        }</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        <span class="comment">// Helpers</span></div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;        <span class="keywordtype">double</span></div>
<div class="line"><a name="l00554"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">  554</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">Log2</a> (<span class="keywordtype">double</span> n_arg)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          <span class="keywordflow">return</span> log( n_arg ) / log( 2.0 );</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        }</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00563"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">  563</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">octreeCanResize</a> ()</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;        }</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        <span class="comment">// Globals</span></div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00573"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">  573</a></span>&#160;        std::size_t <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160; </div>
<div class="line"><a name="l00576"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">  576</a></span>&#160;        std::size_t <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">  579</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>;</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">  582</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160; </div>
<div class="line"><a name="l00585"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">  585</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160; </div>
<div class="line"><a name="l00588"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">  588</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a>;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160; </div>
<div class="line"><a name="l00591"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">  591</a></span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>;</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;    };</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  }</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;}</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_base.hpp&gt;</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a></div><div class="ttdoc">Octree class</div><div class="ttdef"><b>Definition:</b> octree_base.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a0822f6b8272dfe619009873bba7a1211"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">pcl::octree::OctreeBase::serializeTreeCallback</a></div><div class="ttdeci">virtual void serializeTreeCallback(LeafContainerT &amp;, const OctreeKey &amp;) const</div><div class="ttdoc">Callback executed for every leaf node during serialization</div><div class="ttdef"><b>Definition:</b> octree_base.h:532</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a08e5792b29cd493d54ba400a23505b40"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">pcl::octree::OctreeBase::findLeaf</a></div><div class="ttdeci">LeafContainerT * findLeaf(const OctreeKey &amp;key_arg) const</div><div class="ttdoc">Find leaf node</div><div class="ttdef"><b>Definition:</b> octree_base.h:280</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a1530f19c68fa7fed82198f1444b7b114"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">pcl::octree::OctreeBase::deserializeTreeRecursive</a></div><div class="ttdeci">void deserializeTreeRecursive(BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_end_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_end_arg)</div><div class="ttdoc">Recursive method for deserializing octree structure</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:503</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2727267eed42ae776bbd8ea84b91187d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">pcl::octree::OctreeBase::octree_depth_</a></div><div class="ttdeci">unsigned int octree_depth_</div><div class="ttdoc">Octree depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:585</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a29a4753c659cdd7b27e7e83ad705c89c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">pcl::octree::OctreeBase::serializeLeafs</a></div><div class="ttdeci">void serializeLeafs(std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</div><div class="ttdoc">Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:214</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2a74d829fa6bc41a9823e42b9bbb5e59"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">pcl::octree::OctreeBase::leaf_count_</a></div><div class="ttdeci">std::size_t leaf_count_</div><div class="ttdoc">Amount of leaf nodes</div><div class="ttdef"><b>Definition:</b> octree_base.h:573</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2b65a6dadccce46ef7c2434f80d907d7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">pcl::octree::OctreeBase::setMaxVoxelIndex</a></div><div class="ttdeci">void setMaxVoxelIndex(unsigned int max_voxel_index_arg)</div><div class="ttdoc">Set the maximum amount of voxels per dimension.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:75</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2cec91269a5138bf75973e866015c660"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">pcl::octree::OctreeBase::createBranchChild</a></div><div class="ttdeci">BranchNode * createBranchChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Create and add a new branch child to a branch class</div><div class="ttdef"><b>Definition:</b> octree_base.h:430</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2ea6c9036575ec8e55ae59938036478a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">pcl::octree::OctreeBase::root_node_</a></div><div class="ttdeci">BranchNode * root_node_</div><div class="ttdoc">Pointer to root branch node of octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:579</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a3576546beaf804d801ca93c541d76697"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a3576546beaf804d801ca93c541d76697">pcl::octree::OctreeBase::~OctreeBase</a></div><div class="ttdeci">virtual ~OctreeBase()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a39c116718d47fb0086ff94117551fc1d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">pcl::octree::OctreeBase::branchHasChild</a></div><div class="ttdeci">bool branchHasChild(const BranchNode &amp;branch_arg, unsigned char child_idx_arg) const</div><div class="ttdoc">Check if branch is pointing to a particular child node</div><div class="ttdef"><b>Definition:</b> octree_base.h:324</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a441fbe7d3df743a9e13be569c9620c55"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">pcl::octree::OctreeBase::createLeafRecursive</a></div><div class="ttdeci">unsigned int createLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&amp;return_leaf_arg, BranchNode *&amp;parent_of_leaf_arg)</div><div class="ttdoc">Create a leaf node at octree key. If leaf node does already exist, it is returned.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:284</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a4766cdedf01eac19a565648b372dac93"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">pcl::octree::OctreeBase::deleteBranch</a></div><div class="ttdeci">void deleteBranch(BranchNode &amp;branch_arg)</div><div class="ttdoc">Delete branch and all its subchilds from octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:416</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a4cf92b5f2a5b59e679c12aab3dd276d6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">pcl::octree::OctreeBase::octreeCanResize</a></div><div class="ttdeci">bool octreeCanResize()</div><div class="ttdoc">Test if octree is able to dynamically change its depth. This is required for adaptive bounding box ad...</div><div class="ttdef"><b>Definition:</b> octree_base.h:563</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a4fc084486bee5e49223e52b5ea1a40c8"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">pcl::octree::OctreeBase::removeLeaf</a></div><div class="ttdeci">void removeLeaf(const OctreeKey &amp;key_arg)</div><div class="ttdoc">Remove leaf node from octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:301</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a554d101328545d88304af3d817fb4f19"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">pcl::octree::OctreeBase::branch_count_</a></div><div class="ttdeci">std::size_t branch_count_</div><div class="ttdoc">Amount of branch nodes</div><div class="ttdef"><b>Definition:</b> octree_base.h:576</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a6044a82930ab95b427828ff022e7d1e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">pcl::octree::OctreeBase::dynamic_depth_enabled_</a></div><div class="ttdeci">bool dynamic_depth_enabled_</div><div class="ttdoc">Enable dynamic_depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:588</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a61d7ddd454369c5e23054bb1cdadc540"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">pcl::octree::OctreeBase::setBranchChildPtr</a></div><div class="ttdeci">void setBranchChildPtr(BranchNode &amp;branch_arg, unsigned char child_idx_arg, OctreeNode *new_child_arg)</div><div class="ttdoc">Assign new child node to branch</div><div class="ttdef"><b>Definition:</b> octree_base.h:348</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a62ea5ae9440654d09b0db929675ed5da"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">pcl::octree::OctreeBase::createLeaf</a></div><div class="ttdeci">LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a6304cd86b4c714e949c68c328f10e8c6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">pcl::octree::OctreeBase::deleteLeafRecursive</a></div><div class="ttdeci">bool deleteLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg)</div><div class="ttdoc">Recursively search and delete leaf node</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:384</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a6969af4d54d7c8d41b16cc00579744d0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">pcl::octree::OctreeBase::getBranchCount</a></div><div class="ttdeci">std::size_t getBranchCount() const</div><div class="ttdoc">Return the amount of existing branch nodes in the octree.</div><div class="ttdef"><b>Definition:</b> octree_base.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a7fcd3895195eb4102f46d4d54826f554"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">pcl::octree::OctreeBase::deserializeTree</a></div><div class="ttdeci">void deserializeTree(std::vector&lt; char &gt; &amp;binary_tree_input_arg)</div><div class="ttdoc">Deserialize a binary octree description vector and create a corresponding octree structure....</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:229</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a84f6098ca21b73b3cf13ca2596238326"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">pcl::octree::OctreeBase::Log2</a></div><div class="ttdeci">double Log2(double n_arg)</div><div class="ttdoc">Helper function to calculate the binary logarithm</div><div class="ttdef"><b>Definition:</b> octree_base.h:554</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a8cb31ab9a56944b96eef0ace8dedacbe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">pcl::octree::OctreeBase::findLeaf</a></div><div class="ttdeci">LeafContainerT * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:108</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a9a4721b246ca10cb45f130835e6e5f5b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">pcl::octree::OctreeBase::getBranchChildPtr</a></div><div class="ttdeci">OctreeNode * getBranchChildPtr(const BranchNode &amp;branch_arg, unsigned char child_idx_arg) const</div><div class="ttdoc">Retrieve a child node pointer for child node at child_idx.</div><div class="ttdef"><b>Definition:</b> octree_base.h:337</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a9abc561a4c6672aba260f688c8250682"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">pcl::octree::OctreeBase::deleteTree</a></div><div class="ttdeci">void deleteTree()</div><div class="ttdoc">Delete the octree structure and its leaf nodes.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:164</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a9bb6a5ef1f56528bf949e4c3e9b3dcdc"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">pcl::octree::OctreeBase::createLeaf</a></div><div class="ttdeci">LeafContainerT * createLeaf(const OctreeKey &amp;key_arg)</div><div class="ttdoc">Create a leaf node</div><div class="ttdef"><b>Definition:</b> octree_base.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_aa0be9db52726ff7e1e58fd384e0f5e54"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">pcl::octree::OctreeBase::serializeTree</a></div><div class="ttdeci">void serializeTree(std::vector&lt; char &gt; &amp;binary_tree_out_arg)</div><div class="ttdoc">Serialize octree into a binary output vector describing its branch node structure.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:180</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_aae40b7560b7aaa1f70d95bc95e093601"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#aae40b7560b7aaa1f70d95bc95e093601">pcl::octree::OctreeBase::operator=</a></div><div class="ttdeci">OctreeBase &amp; operator=(const OctreeBase &amp;source)</div><div class="ttdoc">Copy operator.</div><div class="ttdef"><b>Definition:</b> octree_base.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_aaedf340984f00bf088c8fac94fb176d7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">pcl::octree::OctreeBase::getTreeDepth</a></div><div class="ttdeci">unsigned int getTreeDepth() const</div><div class="ttdoc">Get the maximum depth of the octree.</div><div class="ttdef"><b>Definition:</b> octree_base.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ab3f8693893b6ee4925cf082716a607ed"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">pcl::octree::OctreeBase::findLeafRecursive</a></div><div class="ttdeci">void findLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&amp;result_arg) const</div><div class="ttdoc">Recursively search for a given leaf node and return a pointer.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:345</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ab9fdbf009e279243a3a1cd99caec05db"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">pcl::octree::OctreeBase::serializeTreeRecursive</a></div><div class="ttdeci">void serializeTreeRecursive(const BranchNode *branch_arg, OctreeKey &amp;key_arg, std::vector&lt; char &gt; *binary_tree_out_arg, typename std::vector&lt; LeafContainerT * &gt; *leaf_container_vector_arg) const</div><div class="ttdoc">Recursively explore the octree and output binary octree description together with a vector of leaf no...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:441</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_abe9d23b2322f32b2ee26c1d9c02dcea3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">pcl::octree::OctreeBase::getBranchBitPattern</a></div><div class="ttdeci">char getBranchBitPattern(const BranchNode &amp;branch_arg) const</div><div class="ttdoc">Generate bit pattern reflecting the existence of child node pointers</div><div class="ttdef"><b>Definition:</b> octree_base.h:360</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ac2bed940d92096c56cb9efc08aee0af9"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">pcl::octree::OctreeBase::getLeafCount</a></div><div class="ttdeci">std::size_t getLeafCount() const</div><div class="ttdoc">Return the amount of existing leafs in the octree.</div><div class="ttdef"><b>Definition:</b> octree_base.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_acd59f91dbfa1671c2d1e37e04712b286"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#acd59f91dbfa1671c2d1e37e04712b286">pcl::octree::OctreeBase::getRootNode</a></div><div class="ttdeci">OctreeNode * getRootNode() const</div><div class="ttdoc">Retrieve root node</div><div class="ttdef"><b>Definition:</b> octree_base.h:313</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ad76bd21badf86e9b47d0c8689f6a860b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ad76bd21badf86e9b47d0c8689f6a860b">pcl::octree::OctreeBase::OctreeBase</a></div><div class="ttdeci">OctreeBase(const OctreeBase &amp;source)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> octree_base.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_adde845dfa80aec70762f8297e2b2e97c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">pcl::octree::OctreeBase::existLeaf</a></div><div class="ttdeci">bool existLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</div><div class="ttdoc">idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:136</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ae03f7feba50b4bca74c8a6aeba9aba3c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">pcl::octree::OctreeBase::max_key_</a></div><div class="ttdeci">OctreeKey max_key_</div><div class="ttdoc">key range</div><div class="ttdef"><b>Definition:</b> octree_base.h:591</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ae54aebbcf08f825f5426fc1f6f66e0b2"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">pcl::octree::OctreeBase::existLeaf</a></div><div class="ttdeci">bool existLeaf(const OctreeKey &amp;key_arg) const</div><div class="ttdoc">Check for existance of a leaf node in the octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ae7fe4a307dc3c87adefb3bac2758a862"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ae7fe4a307dc3c87adefb3bac2758a862">pcl::octree::OctreeBase::OctreeBase</a></div><div class="ttdeci">OctreeBase()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_aeb95bc5e61e5c7c5e80030be0fda5997"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">pcl::octree::OctreeBase::deleteBranchChild</a></div><div class="ttdeci">void deleteBranchChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Delete child node and all its subchilds from octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:380</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_af316c0dedeb707141de115778016c969"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">pcl::octree::OctreeBase::removeLeaf</a></div><div class="ttdeci">void removeLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:150</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_af37a3e55a658f428b6190dcdcec28b89"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">pcl::octree::OctreeBase::depth_mask_</a></div><div class="ttdeci">unsigned int depth_mask_</div><div class="ttdoc">Depth mask based on octree depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:582</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_af7de0fe2ec6f460d6e448b846318526b"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">pcl::octree::OctreeBase::setTreeDepth</a></div><div class="ttdeci">void setTreeDepth(unsigned int max_depth_arg)</div><div class="ttdoc">Set the maximum depth of the octree.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:91</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_afac6e5f2cf2e95a27b4a529275e7ba7e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">pcl::octree::OctreeBase::deserializeTreeCallback</a></div><div class="ttdeci">virtual void deserializeTreeCallback(LeafContainerT &amp;, const OctreeKey &amp;)</div><div class="ttdoc">Callback executed for every leaf node during deserialization</div><div class="ttdef"><b>Definition:</b> octree_base.h:540</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_afca846cfd2002a905d1304bf663394f0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">pcl::octree::OctreeBase::createLeafChild</a></div><div class="ttdeci">LeafNode * createLeafChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Create and add a new leaf child to a branch class</div><div class="ttdef"><b>Definition:</b> octree_base.h:445</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html">pcl::octree::OctreeBranchNode</a></div><div class="ttdoc">Abstract octree branch class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_a124c5d4e99de29ddbbc1a3c51451074c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#a124c5d4e99de29ddbbc1a3c51451074c">pcl::octree::OctreeBranchNode::hasChild</a></div><div class="ttdeci">bool hasChild(unsigned char child_idx_arg) const</div><div class="ttdoc">Check if branch is pointing to a particular child node</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:292</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_branch_node_html_abed2439f134d5ea4b1dd05e3600b46fe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_branch_node.html#abed2439f134d5ea4b1dd05e3600b46fe">pcl::octree::OctreeBranchNode::getChildPtr</a></div><div class="ttdeci">OctreeNode * getChildPtr(unsigned char child_idx_arg) const</div><div class="ttdoc">Get pointer to child</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:272</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_breadth_first_iterator_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">pcl::octree::OctreeBreadthFirstIterator</a></div><div class="ttdoc">Octree iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:453</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_depth_first_iterator_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">pcl::octree::OctreeDepthFirstIterator</a></div><div class="ttdoc">Octree iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:367</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_iterator_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_iterator_base.html">pcl::octree::OctreeIteratorBase</a></div><div class="ttdoc">Abstract octree iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:77</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html">pcl::octree::OctreeLeafNode</a></div><div class="ttdoc">Abstract octree leaf class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a4a06d153287c5b146865fca72662e3e1"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">pcl::octree::OctreeLeafNode::getContainerPtr</a></div><div class="ttdeci">const ContainerT * getContainerPtr() const</div><div class="ttdoc">Get const pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_iterator_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">pcl::octree::OctreeLeafNodeIterator</a></div><div class="ttdoc">Octree leaf node iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:535</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html">pcl::octree::OctreeNode</a></div><div class="ttdoc">Abstract octree node class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html_a5b8206e9608369db7d5c21d905d03e09"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">pcl::octree::OctreeNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const =0</div><div class="ttdoc">Pure virtual method for receiving the type of octree node (branch or leaf)</div></div>
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